CHAPTER5 CANOPEN COMMUNICATION FUNCTION
5.1.8 State Machine
Power |
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Disabled |
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| Start up |
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| Reaction Active | |||
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| Not Ready to |
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| Switch On |
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| Switch On |
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| Disabled |
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| 2 | 7 |
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| Ready to |
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| Switch On |
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Power |
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Enabled |
| 3 | 6 | 10 |
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| Switched On | 12 |
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| Operation |
| 11 | Quick Stop |
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| Enable | 16 |
| Active |
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Command bit of | Bit 7 | Bit 3 | Bit 2 | Bit 1 | Bit 0 |
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| Transition | ||
| Enable |
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Control word | Fault Reset | Quick Stop | Switch On | ||||
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Operation | Voltage |
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Shutdown | 0 | X | 1 | 1 | 0 | 2,6,8 | |
Switch On | 0 | X | 1 | 1 | 1 | 3 | |
Disable Voltage | 0 | X | X | 0 | X | 7,9,10,12 | |
Quick Stop | 0 | X | 0 | 1 | X | 7,10,11 | |
Disable Operation | 0 | 0 | 1 | 1 | 1 | 5 | |
Enable Operation | 0 | 1 | 1 | 1 | 1 | 4,16 | |
Fault Reset | 0 | X | X | X | X | 15 |
‘X’ means that any value is allowed.
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